A lumped parameter model of open-frame unmanned underwater vehicles (UUV's) including the effects of propeller-hull and propeller-propeller interactions is presented. The identification of the model parameters consists of a least squares method using only on-board sensor data without requiring any towing tank tests. The identification scheme is based on separate tests for the estimation of drag and thruster installation coefficients, taking into account propeller-hull and propeller-propeller effects first and inertia parameters subsequently. The scheme has been experimentally implemented on ROMEO, the latest UUV developed by CNR-IAN. Experimental results show both the effectiveness of the proposed method and the relevance of the propeller-hull and propeller-propeller interactions that are usually neglected in standard UUV models.


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    Title :

    Modeling and identification of open-frame variable configuration unmanned underwater vehicles


    Contributors:
    Caccia, M. (author) / Indiveri, G. (author) / Veruggio, G. (author)

    Published in:

    Publication date :

    2000


    Size :

    14 Seiten, 45 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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